Marine seismic surveying in icy or obstructed waters

ABSTRACT

A skeg mounts from the stern of a towing vessel and extends below the waterline. A channel in the skeg protects cables for steamers and a source of a seismic system deployed from the vessel. Tow points on the skeg lie below the water&#39;s surface and connect to towlines to support the steamers and source. A floatation device supports the source and tows below the water&#39;s surface to avoid ice floes. The streamers can have vehicles deployed thereon for controlling a position on the streamer. To facilitate locating the streamers, these vehicles on the streamers can be brought to the surface when clear of ice floes so that GPS readings can be obtained and communicated to a control system. After obtaining readings, the vehicles can be floated back under the surface. Deploying, using, and retrieving the system accounts for ice at the surface in icy regions. In addition, handling the seismic record can account for noise generated by ice impact events.

CROSS-REFERENCE TO RELATED APPLICATIONS

This is a divisional application of U.S. application Ser. No.12/719,783, filed 8 Mar. 2010, which is a non-provisional of U.S. Prov.Appl. Nos. 61/158,698, filed 9 Mar. 2009 and entitled “Marine SeismicSurveying in Icy Waters; 61/246,367, filed 28 Sep. 2009 and entitled“Floatation Device for Marine Seismic Surveying in Icy Waters;” and61/261,329, filed 14 Nov. 2009 and entitled “Marine Seismic Surveying inIcy or Obstructed Waters,” which are each incorporated herein byreference in their entireties and to which priority is claimed.

BACKGROUND

Conventional marine seismic surveying uses a seismic source and a numberof streamers towed behind a seismic survey vessel. These streamers havesensors that detect seismic energy for imaging the formations under theseafloor. Deploying the streamers and sources and towing them during asurvey can be relatively straightforward when operating in open waterswith moderate swells or the like.

Marine locations covered by ice, debris, large swells, or otherobstacles can make surveying more difficult, expensive, or evenimpossible. In icy waters, for example, the seismic survey vessel mustbreak through ice and traverse waters filled with ice floes. The noisegenerated by ice impacts can complicate the seismic record produced.

Additionally, the ice floes on the water's surface make towing thesource and streamers more difficult and prone to damage. For example,any components of the system at the water's surface can encounter ice,become bogged down, and lost. In addition, any cables or towlines comingoff the vessel even from slipways can collect ice at the surface.Likewise, ice pulled under the hull and rising behind the vessel canshear away these cables and lines.

Some approaches for performing seismic surveys in icy regions known inthe art are disclosed in U.S. Pat. Nos. 5,113,376 and 5,157,636 toBjerkoy. To date, however, the problems associated with marine seismicsurveying in icy or obstructed waters have not been significantlyaddressed. The subject matter of the present disclosure is directed toovercoming, or at least reducing the effects of, one or more of theproblems set forth above.

SUMMARY

A marine seismic surveying apparatus has a skeg that mounts on a vesseland preferably on the vessel's aft or stern. The skeg's distal endextends below the vessel's waterline and can even extend several metersbelow the vessel's keel. A seismic surveying system deploys from thevessel and has a number of cables for streamers and cables for a seismicsource, such as an air gun array. To protect these cables, a channel inthe skeg's after edge holds the cables and directs them below thevessel's waterline. In this way, surface ice cannot interfere with thecables while the seismic surveying system is being towed.

The skeg's distal end has tow points, which can be provided on a base.Towlines for the system's streamers and source connect to these towpoints. In this way, these towlines deploy under the water and away fromany ice floes that may be present at the water's surface.

In the towed survey system behind the vessel, a floatation device cansupport a horizontally arrayed source. Preferably, this device floatsbelow the water's surface to avoid ice floes. Alternatively, a verticalsource can be used from the skeg. When operating this vertical source,the firing of the source elements or guns can be timed to account forany tilt that the vertical source has. This timed firing can maintainthe fidelity of the sources and keep a downward facing characteristic ofthe seismic source signal produced.

Because the streamers are towed below the water's surface, the streamerscan have deployed devices, including fins, wings, paravanes, gliderbuoys, Remotely Operated Vehicles (ROVs), Remotely Operated TowedVehicles (ROTVs), and Autonomous Operated Vehicles (AOVs), which can becapable of directional and positioning control. For example, thecontrollable deployed device can be towed vehicles that can position thestreamers individually in lateral or vertical positions under thewater's surface. In addition, ends of the streamers can have particularcontrollable vehicles with Global Positioning System (GPS) receivers.

To facilitate locating the streamers and sensors for the survey, thesecontrollable vehicles can be intermittently brought to the surface whenclear of ice floes or other obstructions so that GPS readings can beobtained and communicated to a control system. After obtaining the GPSreadings, the controllable vehicles can float back under the surface. AnInertial Navigation System (INS) device, integrated navigation system,or other system can be used to supplement the GPS readings so thelocation of the streamers can be determined even when significant icefloes at the surface prevent the controllable vehicles from obtainingGPS readings.

When performing the marine seismic surveying, an ice-breaking vessel orthe tow vessel itself may break pack ice ahead of the towed streamersand source. In the disclosed system, Ice impact events against the hullof the ice-breaking vessel are detected and recorded while the streamersand source are being towed. At the same time, seismic signals from thesource are generated, and the sensors on the streamers detect seismicenergy, which is recorded as part of the seismic record for the survey.Using information about the recorded impact events, the data in theseismic record resulting from those events can then be filtered out ofthe seismic record, allowing operators to analyze the seismic datarelatively free of data from the ice impact events. Alternatively, theknown information about the impact events can be isolated from theseismic record and can be mathematically modeled as high fidelitysources of seismic data for analysis.

The foregoing summary is not intended to summarize each potentialembodiment or every aspect of the present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A-1B show side and plan views of a marine seismic survey systemaccording to certain teachings of the present disclosure for use in icyregions.

FIGS. 2A-2D show perspective, back, side, and top views of an ice skegon a vessel for towing an array of seismic streamers and a source.

FIGS. 3A-3B are cross-sectional views of the ice skeg.

FIG. 3C is a top view of the ice skeg's blade.

FIGS. 4A-4C show perspective views of deploying cables, towlines, andcomponents of a marine seismic system using the disclosed ice skeg.

FIG. 5 is a side view of another ice skeg partially exposed.

FIG. 6A is an aft view of a vessel having a dual channel ice skegaccording to the present disclosure.

FIG. 6B is a side view of the dual channel ice skeg in partialcross-section.

FIGS. 7A-7B shows plan views of blades for the dual channel ice skeg.

FIGS. 8A-8D illustrates flotation systems according to the presentdisclosure for a horizontal source towed behind a vessel with a skeg.

FIGS. 9A-9B illustrate buoys for the floatation systems according to thepresent disclosure.

FIGS. 9C-9D show a buoyant vane for the disclosed system.

FIG. 9E shows a perspective view of a controllable fin for a streamer.

FIG. 9F shows a side view of a controllable wing for a streamer.

FIG. 10 shows a vertical source disposed below an ice skeg.

FIGS. 11A-11C shows the vertical source in different tilt arrangements.

FIGS. 12A-12D illustrate side views of marine seismic survey systemshaving a flotation device and controllable devices.

FIGS. 13A-13B illustrate one type of controllable device in twooperating conditions.

FIG. 14 illustrates an embodiment of a controllable device according tothe present disclosure.

FIG. 15 illustrate inner details and components of the device of FIG.14.

FIG. 16A illustrates a first brake for a controllable device.

FIGS. 16B-16C show a second brake for a controllable device in anundeployed and deployed condition.

FIGS. 17A-17C show a third brake for a controllable device in anundeployed, deployed, and released condition.

FIGS. 18A-18B show arrangements for handling a submerged streamer if thetow vessel 30 must slow or stop.

FIG. 19A shows a plan view of a seismic vessel with an ice skeg and adeployment zone behind a vessel.

FIGS. 19B-19E shows the seismic vessel with various forms of seismicarrays deployed.

FIG. 20A illustrates a side view of a marine seismic survey systemhaving a Remotely Operated Towed Vehicle (ROTV) as the controllabledevice at the tail end of the streamers.

FIG. 20B illustrates a plan view of another marine seismic survey systemhaving ROTVs at multiple locations on the streamers.

FIGS. 21A-21B shows a Remotely Operated Towed Vehicle (ROTV) in moredetail.

FIG. 22 schematically illustrates a control system for controlling theROTVs and dead reckoning its location while being towed.

FIG. 23 shows a control loop for dead reckoning and correcting drift inan Inertial Navigation System.

FIG. 24 shows a steamer with sensors positioned thereon for determiningthe shape of the streamer using a GPS reading for a vessel, known sensorlocations, a known controllable vehicle location, and various compassheadings.

FIG. 25 shows different arrangements of acoustic systems for performingacoustic cross-bracing to determine streamers' positions.

FIG. 26 shows how a short base line can be obtained using a transduceron a vessel and a sensor on a controllable device on the tail end of astreamer to determine its position.

FIG. 27 is a side view of yet another marine seismic survey systemaccording to certain teachings of the present disclosure that recordsice impact events during operation.

FIG. 28 shows a flowchart of a process for performing a marine seismicsurvey in an icy region when recording ice impact events.

FIG. 29 schematically shows a seismic recorder for a towing vessel.

FIG. 30 schematically shows a recording system for an ice-breakingvessel.

FIG. 31 shows a representative table of data recorded during ice breakevents.

FIG. 32 diagrammatically shows a data stream recorded by the marineseismic system.

FIG. 33 graphically shows representative amplitude responses of recordedseismic data of the marine seismic system.

DETAILED DESCRIPTION

A. Marine Seismic Survey System

A marine seismic survey system 10A in FIGS. 1A-1B can be used in icyregions having glacial ice, pack ice, and ice floes. However, elementsof the system 10A can be used in other locations having debris, plants,flotsam, jetsam, or other obstructions or obstacles at the water'ssurface that can interfere with towed components of the marine seismicsurvey system.

For icy regions, the system 10A preferably includes an icebreaker vessel20 that breaks ice in advance of a tow vessel 30. In operation, theicebreaker vessel 20 breaks pack ice and diverts ice floes to create atract for passage of the tow vessel 30. As the tow vessel 30 tows one ormore streamers 60, a supply system 45 operates a source 90, and acontrol system 40 having a seismic recorder records the seismic dataobtained with sensors 70 on the streamers 60.

Because the tow vessel 30 operates in icy or obstructed waters, aprotective device 50 on the tow vessel 30 couples to towlines 65 thatsupport the streamers 60. (Although multiple streamers 60 are shown, thesystem 10A can have one steamer 60 if desired). As discussed below, theprotective device 50 (referred to herein as an ice skeg) keeps towlinesand cables for the towed components away from ice floes on the water'ssurface. In this way, the ice skeg 50 allows the vessel 30 to tow thestreamers 60 in ice covered waters while handling various loads causedby motions of the vessel 30, forces from the towed bodies, andinteractions with the ice.

In general, the ice skeg 50 can be located anywhere on the vessel 30. Asbest shown in FIG. 1A, however, the ice skeg 50 preferably extends fromthe vessel's hull at the stern. This abaft position is better suited fordeploying cables, towlines, and other components of the marine seismicsurvey system being towed by the vessel 30. In one arrangement, the iceskeg 50 is a static addition to the vessel 30 that can be welded,incorporated, or otherwise attached in a shipyard to an existing designof a vessel's hull. Alternatively, the vessel 30 can be predesigned andbuilt with an appropriate ice skeg 50 incorporated into its hull design,or the ice skeg 50 may be a deployable component provided withappropriate mechanisms for deploying and holding it on the vessel 30. Inyet another arrangement, the skeg 50 can be a portable or independentcomponent that can be mounted temporarily on the side of the vesselwithout the need for modifying the vessel's hull.

Extending below the vessel's waterline, the ice skeg 50 keeps theattachment points for towlines 62/92 below the surface of the water.This keeps the towlines 62/92 below any ice floes floating on thewater's surface that could interfere with or collect around the towlines62/92. Streamer cables 65 connected to the seismic recorder of thecontrol system 40 extend form the vessel 30, and the skeg 50 directsthese streamer cables 65 below the water's surface so that ice will notinterfere with or collect around them. The depth required to effectivelyhold the streamer cable towlines 62 and streamer cables 65 below the icelevel can be depend on the particular implementation. As one example,the ice skeg 50 may extend about 7-m below the vessel 30's waterline.However, this distance can vary for a given implementation, depending onthe type of ice regime in which the vessel is operating, the size of thevessel, and other factors.

In the present arrangement, a seismic source 90 suspends horizontally inthe water column behind the vessel 30 and has a plurality of seismicsource elements 91, which are typically air guns. (Although one source90 is shown, the system 10A can use multiple sources.) A supply cable 95connected to the supply system 45 extends from the vessel 30, and theice skeg 50 also directs this supply cable 95 below the water's surfaceso it is out of the way of ice as well. A towline 92 connects the cable95 to the ice skeg 50 and helps tow the source 90 behind the vessel 30.

The supply cable 95 is preferably buoyant, and the source 90 can bestabilized by one or more flotation devices or buoys 94. Because icemoves along the surface of the water, the flotation device 94 can bedesigned to handle interactions with ice as it floats at the surface.Accordingly, the flotation device 94 can be shaped to minimize impactswith ice and can be arranged horizontally to cut through any ice floesat the surface. Preferably, however, the flotation device 94 is designedto avoid contact with ice by floating below the surface, as discussed inmore detail later.

To tow the horizontal source 90 behind the vessel 30, the towline 92secures to the ice skeg's base under the water and connects to thesource 90 suspended below the water's surface. One or more support linesinterconnect the flotation device 94 with the source 90. The supplycable 95 extends off the end of the vessel 30, fits through a channel inthe ice skeg 50, and connects to the source 90 for operation.

In general, the towlines 62/92, streamers 60, sensors 70, cables 65/95,control system 40, and supply system 45 can be conventional componentsknown and used in marine seismic surveying. For example, the sourceelements 91 can be operated in any conventional manner to create asuitable seismic source signal. In addition, the streamers 60 can useneutrally buoyant cables used for supporting appropriate marine seismicsensors 70. As such, each streamer 60 can have several sections witheach having an outer skin to protect the interior from water and havingaxial members along its length for axial strength. Each section of thestreamer 60 can also have a wire bundle that carries electrical powerand data communication wires. For the pair, the sensors 70 are typicallyhydrophones located within the streamer 60.

As further shown in FIG. 1 B, paravanes, fins, or doors 64 and aspreader 66 can be used to support multiple streamers 60 behind the towvessel 30. These paravanes 64 and spreader 66 can also be similar toconventional components used for marine seismic surveying, except thatthe paravanes 64 preferably tow under the water's surface as discussedlater.

With an understanding of the disclosed system, discussion now turns toparticular components of the system, starting with the ice skeg.

B. Single Conduit Skeg

As discussed above, the tow vessel 30 uses the ice skeg 50 to keep thetowlines 62/92 and cables 65/95 away from ice floes at the water'ssurface. As shown in FIGS. 2A-2B, one embodiment of an ice skeg 100Amounts onto the aft 32 of the seismic tow vessel 30 used to tow seismicstreamers (not shown). As noted previously, the skeg 100A can mountanywhere on the vessel 30, including the port, starboard, bow, orthrough a moon pool in the hull. However, the stern or aft 32 of thevessel 30 is preferred because the streamers (not shown) are best towedbehind the vessel 30, which can help break ice floes while towing thestreamers.

In this embodiment, the ice skeg 100A is a single conduit extending fromthe aft 32 of the vessel 30. So as not to interfere significantly withthe vessel's steering and other functions, this single conduit skeg 100Ais preferably used on a vessel 30 having dual screws 36, although itcould be used with other types of vessels. The ice skeg 100A extendsunder the hull between slipways 34 used for deploying and retrievingsteamers and cables. Along its after or trailing edge, the skeg 100Adefines an open passage or channel 120 for passage of steamer cables,source cables, and slack lines as discussed later.

Even though the skeg 100A extends off the aft 32, ice may be forced toflow along the bottom of the vessel's hull when surveying in icy waters.This forced ice eventually reaches the aft 32 of the vessel 30 where itagain resurfaces. In other situations, ice impacted by the bow of thevessel 30 may be forced under the vessel's hull and then attempt toresurface toward its aft 32 as the vessel 30 travels forward. In anyevent, the skeg 100A acts as a protective conduit to keep the towlines,cables, and the like away from this ice.

At its distal end, the skeg 100A has a base or plate 110 that providesattachment points 114/116 a-b for the towlines. In this way, the skeg100A provides tow points 114/116 a-b below the water's surface and awayfrom the ice floes at the surface. In addition to remaining protectedfrom ice floes, these undersurface tow points 114/116 a-b also helpmaintain the streamers and source below the surface.

Additional details of the ice skeg 100A are shown in FIGS. 2C-2Dillustrating the ice skeg 100A mounted on the vessel 30. As best shownin FIG. 2C, the distal end of the skeg 100A positions to about the depthof the vessel's keel, and the tow points 114/116 are held below thevessel's waterline 31, as mentioned previously.

As also shown in FIG. 2C, streamer cables 65 and supply cables 95 runoff the vessel 30 through slipways 34 (See also FIG. 2D). The cables65/95 pass through the channel 120 in the ice skeg 100A. In turn, thechannel 120 directs the cables 65/95 under the vessel's waterline 31toward the skeg's base 110, where the cables 65/95 can then follow thevessel 30 without interference from ice floes.

One or more line stiffeners or bend limiters 130 hold the cables 65/95in the skeg's channel 120, and slack lines 132 pass in the channel 120and attach to these line stiffeners 122. In addition, steel guides 124in the channel 120 can support the cables 65/95, and a curved passage126 can be provided for the slack lines 132 so that they can be divertedthrough the channel 120 separately from the cables 65/95. The slacklines 132 can have about a ⅝-in. (16-mm.) diameter so that three to fourslack lines 132 may fit into the guides' passage 126. Each slack line132 leads to a hydraulic winch 134 used for pulling the line 132 andattached stiffener 122 to which they are coupled.

As shown in the top view of FIG. 2D, the vessel 30 has slipways 34leading off the vessel's stern for passage of streamer and source cables(not shown). Other slipways 35 are also provided and aligned withwinches 37 for holding tow and retrieval lines for the seismic surveysystem. Thus, the vessel 30 can have these and other conventionalfeatures known and used in the art for marine seismic surveying.

Referring to FIGS. 3A-3B, the upper extension 106 and the inside corner108 of the ice skeg 100A can be designed to suit an existing vessel andits ice horn. As shown in these cross-sections, the ice skeg 100A isinternally hollow and has outer shell walls 102 and internal supports104. In one implementation, for example, the skeg 100A may have aninternal volume of approximately 14 cubic meters and may weigh about27-MT.

The hollow internal volume gives the skeg 100A some buoyancy that canhelp support the skeg's weight on the vessel 30. To ensure that the skeg100A remains free of water, the skeg 100A can be fitted with a means ofsounding and a means of de-watering as well. For this reason, the skeg100A can have an internal passage 105 extending from top to bottom andfitted with a pipe 107 and a gate valve 109 at the vessel's deck asshown in FIGS. 3A-3B.

As best shown in FIG. 3C, the ice skeg's base 110 can be a fin or beavershaped plate, although other shapes could be used. The base 110 can befixed to the distal end of the skeg 100. Alternatively, the base 110 canbe mounted on a swivel or hinges so it can rotate laterally and/orvertically. As shown, the base plate 110 has brackets 112 for attachingto the end of the skeg's body. As also shown, the base 110 has anopening 113 for passage of the pipe (107; FIG. 3B) and has three towpoints 114/116 a-b.

The outer tow points 116 a-b can be used for towlines that supportsources (not shown), and the center tow point 114 can be used for atowline that supports the one or more streamers (not shown). In oneimplementation, the outer tow points 116 a-b can be configured for 5-tonloads each, and the center tow point 114 can be configured for an 18-tonload. Other configurations of tow points and different load levels canbe provided depending on the implementation. Moreover, the skeg 100A canhave tow points 114/116 a-b placed elsewhere, and more or less towpoints may be provided than shown.

Details of how cables 65/95 are deployed and retained in the skeg 100Aare provided in FIGS. 4A-4C. In this arrangement, operators deploy thestreamers 60 (one shown), sources 90 (two shown), cables 65/95, towlines62/92, and other components in the water from the vessel 30 in aconventional manner. As is typically the case, the steamer 60 can bedeployed with a number of sensors and devices (not shown) attachedthereon. The sensors can determine the steamer's speed in the water,heading, etc. The devices can control the positions of the steamer 60while being towed. Therefore, components of the system 10A may be donein an area significantly clear of ice (i.e., outside an overly icyregion to be surveyed) because the cables 65/95 and towline 62/92 mayneed to come off the vessel's stern and pass directly in the waterwithout protection with the skeg 100A.

Once the steamers 60, source 90, and other components are towed out intothe water, the streamer cables 65 and source cables 95 are deployed withbend limiters 130 disposed thereon and connected with towlines 133 tothe skeg 100A. The bend limiter 130 can define a bend to help tuck thecable 65/95 in the skeg 100A's channel 120 as discussed below. Rings orother couplings 131 on the limiters 130 may allow it to attach to thecables 65/95, while also allowing it to slide along the cable 65/95 whenpulling them into the skeg's channel 120.

A slack line 132 extends from a winch 134 a to a passage in the skeg100A. Support cables 133 may also hold these limiters 130 in positionand may attach to winches 134 b on the vessel 30. Operators use theslack winch 134 a to bring in the slack line 132. This pulls the limiter130 (and attached cable) into the channel 120 of the skeg 100A. Thisprocesses is repeated for each of the cables (either source or streamer)to be protected in the skeg's channel 120. A series of slots 121 can beprovided along the vessel's aft 32 at the top of the skeg's channel 120to accommodate any lines or cables passing into the skeg's channel 120.

Once the cables 65/95 have each been pulled into the channel 120 withthe limiters 130 and all towlines secured, the vessel 30 can then travelto icier region to survey. As it encounters ice floes, the skeg 100A canthen protect the cables 65/95 extending from the vessel 30 and hold thetow points for their towlines 62/95 under the surface of the water.

An alternate ice skeg 100B in FIG. 5 is similar to the previous skeg100A. In this skeg 100B, the channel 120 of the skeg 100B has aplurality of cross bars 123 for support. These bars 123 also providegaps for passage of the slack lines 132 for the limiters 130 used topull and retain the cables in the skeg's channel 120. As will beappreciated from these and other ice skeg designs disclosed herein, theice skeg 100 can have more or less complicated features depending on theimplementation.

C. Multiple Conduit Skeg

The previously described skegs 100A-B provide a single conduit down thecenter of the vessel's aft 32, which may be best suited for a vessel 30with dual screws 36. As an alternative, an ice skeg 100C in FIGS. 6A-6Bprovides two or more conduits or passages down a vessel's aft 32 and canbe used with a vessel 30 having one screw 36 and rudder 37.

As shown in the aft view of FIG. 6A, the skeg 100C has dual channels150A-B that pass from the aft 32 of the vessel 30 and under the surfaceof the water on either side of the vessel's screw 36. In this way, thewake of the screw 36 and rudder 34 of the vessel 30 can remainrelatively unobstructed in the open space between the channels 150A-B.

As also shown, the distal ends of these dual channels 150A-B connect tothe rear edge of a base plate 140. The base plate 140 can have differentshapes. As shown in FIG. 7A, for example, one type of base plate 140Acan be a closed, triangular shape with a front edge 142 for attaching tothe vessel's keel (38) by welding or other technique. Alternatively, inFIG. 7B (and FIG. 6A), another type of base plate 140B can define anopening 146 therein, which can reduce the overall weight of the plate140B. In either case, the plate 140A-B itself can contain hollowchambers to reduce weight and can be filled with buoyant materials.

As best shown in FIG. 6B, the base plate 140 at its front end 142connects to the keel 38 of the vessel 30. As with previous designs, thebase plate 140 has tow points 144 for attachment of towlines 62/92 usedto support the streamers and source of the seismic system. As shown inFIGS. 7A-7B, for example, these tow points 144 can lie along the tailingedge of the plate 140. In addition, attachment points 145 for thechannels 150A-B are also provided on the trailing edge of the plates140A-B.

D. Source Arrangements

1. Horizontal Source

As noted previously, embodiments of the marine seismic survey systemscan use a horizontal source. FIGS. 8A-8D show arrangements of marineseismic survey systems 10B using horizontally configured sources 250towed off the ice skeg 100 on the tow vessel 30. As shown, each source250 has gun plates 252 interconnected by lines 254. In addition, eachsource 250 connects by a towline 220 and a buoyant supply line 230 tothe ice skeg 100 on the vessel 30 according to the techniques discussedpreviously. Each source 250 in turn positions relative to a streamercable 65 extending from the ice skeg 100 and supported by a towline 62.

When performing the survey, the source 250 is preferably stabilized at apredetermined or known depth in the water. As noted previously, thesource 250 can be supported by a conventional floatation device havingone or more sausage floats (not shown) that float at the water'ssurface. Naturally, using such conventional floats to support the source250 in icy waters is the easiest form of implementation.

Because ice moves along the surface of the water, attention ispreferably paid to interference by ice with such a surface floatationdevice. Accordingly, the surface floatation device can be shaped tominimize impacts with ice can be arranged to cut through any ice floes.For example, the surface floatation device can have several surfacefloats interconnected to one another, and each float can have a shapeconducive to avoiding ice. In addition, the linked surface floats can beconnected by a towline at the water's surface to the stern of the vessel30.

When surveying in icy waters, however, such a conventional surfacefloatation device may be constantly battered by ice and may becomedislodged by ice being caught by vertical ropes connecting the floats tothe horizontal source 250. To support the source 250, the disclosedsystem 10B preferably uses floatation devices 200A-D as shown in FIGS.8A-8D that tow below the surface of the water or are less subject to iceimpacts.

a. Flotation Devices

In FIG. 8A, a first floatation device 200A has individual buoys 210 thatsupport the horizontal source 250. At least some of the source's plates252 are individually connected to one of the buoys 210 by a cable 212.This allows each buoy 210 to move around and under ice at or below thewater's surface. In general, the buoys 210 may be allowed to float atthe surface. In the device 200A in FIG. 8A, however, the buoys 210 arepreferably set up to float below the surface of the water when towedbehind the ice skeg 100. Because the skeg 100 brings the tow and supplylines 220/230 below the water's surface, the source 250 and buoys 210can be better supported below the surface of the water and away from anyice floes.

To reduce issues with entanglement, the buoys 210 as shown can betethered by short lines 212 so that they float at about 4-8 meters belowthe water's surface when towed. In general, the length of these lines212 may be about 6-m, and the tow depth of the source 250 may be about19-m.

In addition to shorter lines 212, not all of the source plates 252 maybe supported by a buoy 210 and a line 212. In this example, a firstsource plate 252 can be supported on its own between the coupling 256 ofthe tow and supply lines 220/230 to the source 250. A shorter front buoy214 and line 216 can then support the second source plate 252, and theremaining five source plates 252 can be supported by the larger buoys210 and longer lines 212. The smaller buoy 214 may have a length ofabout 1-m., while the larger buoys 210 have a length of about 2.5-m. Inother arrangements, each source plate 252 can having its own buoy 210connected by a line 212. Additionally, the coupling 256 of the towline220 and supply line 230 to the source 250 can be supported by its ownbuoy and line (not shown).

When towed behind the skeg 100, the buoys 210/214 submerge. Thisprovides stability to the buoys 210/214 and reduces issues with themwandering about and being impacted by ice floes. Although initiallyunexpected, the source 250 can actually float at a substantiallyconsistent depth while being supported by the individually tetheredbuoys 210/214. In essence, the interplay between the drag from thesubmerged buoys 210/212, the tow speed, the holding off of the source250 from the skeg 100, and other factors make the source 250 neutrallybuoyant in the water. Using more or less buoys 210/214 can aid instabilizing the depth of the source 250 depending on the implementation.

To stabilize the depth of the source 250, the floatation device 200B inFIG. 8B has the buoys 210 arranged together in a horizontal manner. Thenumber of buoys 210 used can be adjusted so that the source's buoyancywill be neutral. In this arrangement, the multiple buoys 210 aretethered at one end by lines 212 to individual gun plates 252 of thesource 250, and the other ends of the buoys 210 connected to the ends onthe adjacent buoys 210. Thus, each buoy 210 is flexibly connected to theadjacent buoys 210. As an alternative to flexibly connected buoys 210,the floatation device 200B may use one single elongated buoy (not shown)held by tether lines 212 and intended to float below the water's surfacewhen towed.

As another alternative, the floatation device 200C in FIG. 8C uses anelongated float 260. Internally, this float 260 is compartmentalized byseveral volumes (e.g., bladders or chambers) 262 along its length. Asopposed to an elongated, compartmentalized float as shown, thefloatation device 200C may comprise several individual floats eitherindividually tethered or flexibly connected together (as in FIGS.8A-8B), and one or more of these float can have a fillable volume forbuoyancy control. When the float 260 is towed behind the skeg 100, thesevolumes 262 can be selectively inflated or flooded as required tomaintain a desired depth for the source 250.

For example, elements 264 can be regulators, and a tap off line 266 fromthe source's supply cable 230 can connects to the regulators 264 foreach of the volumes 262. The regulators 264 can add or release air inthe volume 262 to control the buoyancy of the float 260. In this way,the float 260 can be maintained at a desired level and remain unaffectedby surface obstructions or wave action. In another example, theregulators 264 can be high-pressure water pumps, and the volumes 262 canbe filed with pressurized air and/or water that can be controlled.

In either case, a controller 268 monitors and controls the operation ofthe regulators 264, and the controller 268 can connect to depthindicators on the source plates 252 to determine and monitor the depthand orientation of the source 250. As is known, the buoyancy of thedevice 200C can depend on the salinity of the water, the temperature,and other factors so the controller 268 may preferably be capable oflocal or remote control. Although GPS would not work to position thefloat 260, the controller 268 can communicate with a control unit 270 onthe vessel 30 by acoustic signals or an electric cable on supply line230 so that the control unit 270 can operate the controller 268 tochange and adjust the position (i.e., depth) of the float 260 duringsurveying. This flotation device 200C can also incorporate componentsrelated to a Remotely Operated Towed Vehicle or glider buoy and anybuoyancy, pitch, and roll control components disclosed herein.

In yet another arrangement, the floatation device 200D in FIG. 8D useschutes or drogues 218 connected by lines 212 to support the source 250.These drogues 218 are designed to drag along the surface while thesource 250 is towed. Should the drogues 218 impact with any ice floes,the individual drogue 218 can absorb the impact and then return tocatching water at the surface without significantly disrupting thesupport of the source 250 by the other chutes 218. As also shown, thecoupling 256 of the source 250 to the cables 220/230 can be supported bya drogue 218 and line 212 as well.

Although not shown in FIGS. 8A-8C, the skeg 100 can support more thanone source 250 and floatation devices 200A-D behind the vessel in a waysimilar to that shown in FIG. 4A. Furthermore, although one streamercable 65 is shown in FIGS. 8A-8C, it will be appreciated with thebenefit of this disclosure that multiple streamer cables 65 or an arrayof such cables 65 can be towed from the skeg 100.

b. Buoys

The particular buoys 210 used for the floatation devices 200A-B of FIGS.8A-8B preferably produce little drag and shed ice. In addition, thebuoys 210 are preferably resilient to cold water and can handle impactswith ice. In FIG. 9A, one buoy 210 a is shaped as an elongated spar andhas a cylindrical body with a tapered end intended to reduce drag andcut through ice floes and water. In FIG. 9B, another buoy 210 b has acylindrical body.

The construction of these buoys 210 a-b can be similar to that used forice spar buoys typically used to mark navigation channels in areas thatfreeze in winter. One manufacturer of such an ice spar buoy is Sabik ofFinland. When used to support a source (250), these types of buoy 210a-b can function well in icy waters.

On both of these buoys 210 a-b, a front coupling at the end can connectthe buoy 210 a-b by a tether line (not shown) to the source (not shown).Another coupling may be provided on the other end to facilitate handlingof the buoy 210 a-b or to tie it to other buoys as in the arrangement ofFIG. 8B. In general, the buoys 210 a-b may be about 2.5-m in length orshorter and may be about 0.5-m in width, and the buoys 210 a-b may bedesigned to provide approximately 25% reserve buoyancy.

For both buoys 210 a-b, the bodies are preferably formed out of an outershell of strong plastic material, such as Ultra-High Molecular WeightPolyethylene (UHMWPE) or UV polyethylene that will resist cracking,chipping, and peeling in cold conditions. The wall thickness ispreferably 20-mm or more. Internally, the buoys 210 a-b can havereinforcement such as ribs or plates, and the buoys 210 a-b may be filedwith closed cell foam, such as polyurethane foam.

2. Vertical Source

As noted previously, embodiments of the surveying system can use ahorizontal gun array for the seismic source. As an alternative shown inFIG. 10, the system can use a vertical source 300 disposed below the iceskeg 50. The vertical source 300 can be fixedly attached to the ice skeg50 using a stem or mast 304 that extends down through the ice skeg 50.This mast 304 may be deployable through a vertical channel (not shown)in the ice skeg 50 or may be affixed to the end of the ice skeg 50 whilein the water.

Alternatively, element 304 of the vertical source 300 can include cablesconnected to the ice skeg 50 and extending therefrom. To keep the source300 vertical (or at least in a vertical orientation) while being towed,an arrangement of one or more floats, ballast, fins, vanes, or the like(not shown) can be provided on the vertical source 300 so that it towssubstantially vertical in the water while the vessel 30 is surveying.Although shown strictly vertical from the skeg 50, the source 30 may beconfigured to tow at some predetermined angle that is relativelyvertical.

The vertical source 300 has multiple source elements or guns 302connected to a supply system 45 by a supply line 305. Timing of the guns302 can be performed in a way to create a large, single source signal byfiring each of the guns 302 in the source 300 into the acoustic pulseproduced by other firing guns 302. For example, the supply system 45fires the highest gun 302A first. Then, the supply system 45 fires thenext highest gun 302B at an appropriate point in time so that it firesinto the downward acoustic pulse produced by the first gun 302A. Thissequence continues down the vertical source 300 of guns 302 so thesource 300 can operate essentially as a single source located at aboutthe center of the array of guns 302. The timing can also be done so thatthe resulting acoustic pulse is downward facing.

Unfortunately, the vertical source 300 may not remain perfectly vertical(or at its predetermined vertical orientation) in the water while beingtowed. Swells, encounters with ice, flexible connection of the source300 to the skeg 50, and other issues will cause the source 300 to movefrom its vertical (or predetermined orientation). This alters thelocations of the guns 302 and alters how their timed firing should beperformed. Left unaccounted for, this tilting can alter the fidelity ofthe seismic source signal produced by the source 300 and the resultingdata acquired.

As shown in FIGS. 11A-11C, the vertical source 300 can tilt at some tiltangle ±α relative to its predetermined orientation, which is vertical inthis example. The vertical source 300 determines this tilt angle ±α andadjusts the timed firing of the guns 302 accordingly.

The tilt angle ±α of the source 300 can be determined in a number ofways. As shown, an inclinometer or other type of sensor can be used todetermine the tilt angle ±α of the source 300. Once known, this tiltangle ±α is used to adjust the timed firing the guns 302 to maintain thefidelity of the source signal and to make the direction of the sourcesignal downward facing. The timing of the firing of the guns 302 istherefore preferably based on the variable tilt angle ±α of the source300 and each guns 302 location. By manipulating the timing of the guns302 based on the variable tilt angle ±α, the resulting source signalproduced can keep its high fidelity and can remain preferably downwardfacing.

Briefly, the supply system 45 fires the highest gun 302A first. Then,the supply system 45 fires the next highest gun 302B at an appropriatepoint in time adjusted by the variable tilt angle ±α so that it firesinto the downward acoustic pulse produced by the first gun 302A. Thissequence then continues down the vertical source 300 of guns 302. If thevariable tilt angle α is negative (FIG. 11A), then timing betweenfirings may be lengthened. Alternatively, the timing may be shortenedfor some guns 302 if the variable tilt angle α is positive (FIG. 11C).Although the timing between firings may be changed, the sequence offirings of the guns 302 may also be altered depending on theimplementation.

E. Deployed Devices for Survey System

During marine seismic surveying, it is desirable to determine, track,and potentially control the positions of the streamers to better acquireand map the seismic data obtained. Determining position can be doneusing GPS readings of the streamers during the survey. In the marineseismic surface systems 10 of the present disclosure, however, obtainingGPS readings can prove difficult because the system 10 is significantlysubmerged below the water's surface so that GPS receivers cannot operateto obtain readings. Discussion now turns to several types of deployed orcontrollable device that can be used on the streamers to obtain GPSreadings and otherwise control the position of the streamers duringsurveying.

1. Floating Deployed Device

In FIG. 12A, a marine seismic survey system 100 is shown having a firsttype of deployed device 80A according to the present disclosure. Duringa marine seismic survey, the locations of the streamers 60 arecontrolled and monitored so that the positions of the array of sensors70 can be known for proper data acquisition and analysis. For example,GPS coordinates of the streamers' tail ends can be used to coordinatethe position of each of the sensors 70 on the various streamers 60, anda control system 40 uses these coordinated positions for dataacquisition, analysis, and control. A suitable system for acquisition,analysis, and control includes ION Geophysical's Intelligent Acquisitionsystem that can determine the locations of the streamers 60. Such asystem can steer the streamers 60 using DIGIFIN™ streamer steeringsystems and ORCA® command control software, which are available from IONGeophysical. (DIGIFIN is a registered trademark of ION Geophysical,Corporation, and ORCA is a registered trademark of Concept SystemsHoldings Limited.)

In the present survey system 100, the streamers 60 travel submergedbelow the water's surface using the skeg 50 and other features disclosedherein. Yet, it is still necessary to determine the locations of thestreamers 60. To obtain the location of a given streamer 60, the system100 in FIG. 12A uses the deployed device 80A that floats on the water'ssurface at the tail end of the streamer 60.

The deployed device 80A can be a spar type buoy designed to handle iceimpacts and shed ice floes while at the surface. The device 80A includesa GPS receiver 82 that can obtain GPS coordinates for the deployeddevice 80A as it is towed behind the vessel 30 with the streamer 60.Obtaining the GPS coordinates can use conventional techniques known inthe art so that they are not detailed herein. For example, detailsrelated to GPS-based positioning of an underwater streamer cable 60 canbe found in U.S. Pat. No. 7,190,634, which is incorporated herein byreference.

As the vessel 30 tows the streamer 60, the source 90 produces sourcesignals, and the sensors 70 detect seismic signals. The control system40 obtains GPS coordinates from the deployed device 80A using thestreamer 60 and other lines for communication and power to the GPSreceiver 82. Then, using techniques known in the art, the control system40 determines the location of streamer 60, sensors 70, source 90, andother components relative to the vessel 30 and physical coordinates ofthe area being surveyed.

Although the marine seismic survey system 100 of FIG. 12A uses thefloating deployed device 80A, this is generally possible as long as thesurfaced device 80A is designed to encounter a certain amount of icefloes, obstacle, or the like. Otherwise, the surfaced device 80A canbecome bogged with ice, damaged by impacts, moved out of place, or lost.Therefore, in some situations, a submersible form of deployed device maybe used as described below.

2. Controllable Deployed Devices

The previous deployed device 80A was intended to float at the surface.In FIG. 12B, a deployed device 80B includes a drag producing device 310and a buoy 320. As shown, the drag producing device 310 can be a drogue,although any other apparatus known in the art can be used. The drogue310 is attached to the tail end of the streamer 60, and a module 312 maybe provided that houses various electronic components, such asdeclinometer, compass, inertial navigation system, and the like.

The drogue 310 produces drag as the steamer 60 is towed, and theposition (depth, lateral, etc.) of the steamer 60 can be controlled byother techniques disclosed herein. The buoy 320 extends off from thetail end of the streamer 60, drogue 310, or module 310 by a connector324 and a mechanical coupling 326. The connector 324 preferably produceslow drag.

Depending on how it is arranged, the buoy 320 can permanently float atthe surface by the connector 324 or may be able to move to and from thesurface when encountering ice. For example, the connector 324 can be afixed mast that extends off the tail end of the streamer 60, and themechanical coupling 326 can be rotatable. Preferably, however, theconnector 324 is a flexible tether line of low drag, and the mechanicalcoupling 326 is preferably breakable at a predetermined tension.

Again, the buoy 320 is preferably a spar type buoy of resilient plasticconstruction to withstand encounters with ice and the like. The buoy 320also preferably has sufficient ballast. Thus, as the buoy 320 floats atthe surface, it is intended to shed ice floes and bounce away from iceand then return to the surface when accessible.

The buoy 320 has a GPS receiver 322 that exposes above the surface ofthe water (and preferably above any swells) to obtain GPS readings aslong as the buoy 320 is at the surface. As it is towed, the buoy 320obtains these GPS readings continuously and communicates them to theelectronics module 312 on the steamer 60 either via the line 324,acoustically, or other method. If the buoy 320 encounters ice, the buoy320 can be forced below the surface of the water. If this occurs for aprolonged period of time, the survey system can use the components inthe electronics module 312 to keep determining position of the tail endof the streamer 60 in ways discussed later.

As noted herein, it is preferred to determine the location of the tailend of the streamer 60 so the survey system can track the location ofthe sensors (not shown). Because it exposes at the surface, the buoy 320obtains the GPS readings. Yet, the buoy 320 lies some distance (e.g.,20-m) from the tail end of the streamer 60. Therefore, locating the tailend of the streamer 60 must be determined from the known information.

In one method, the distance may be known due to the depth of thestreamer 60, the predetermined length of the line 324, the tow speed,and other variables. Based on the mathematical relationship, thelocation of the tail end of the streamer 60 (e.g., the location of themodule 310) can be directly calculated. In another method, the buoy 320may ping an acoustic signal that is picked up by a sensor 316 on themodule 312, and this information can be used to determine the locationof the tail end of the streamer 60 relative to the buoy 320 to correctfor location. Each steamer 60 towed from the vessel can have such a buoy320 and acoustic sensor 316 so that acoustic signals detected betweensteamers 60 and buoys 320 can use cross-bracing techniques. This canthen further triangulate the orientation of the buoys 320 and steamers60 and help determine locations.

As it floats at the surface, the buoy 320 may become bogged down andcaught in ice. As some predetermined tension, however, the mechanicalcoupling 326 can break free so that the stuck buoy 320 can be shed fromthe end of the streamer 60. Only a buoy 320 and GPS receiver 320 maythen be lost, while other potentially more expensive electronics in themodule 312 remain in place on the end of the streamer 60.

Although the deployed device 80B may have one such buoy 320, itpreferably has one or more such buoys 320′ in reserve in case the firstbuoy 320 is lost. Accordingly, the deployed device 80B can becontrollable to release reserve buoys 320′ when needed.

As shown, the reserve buoys 320′ can be held to the end of the streamer60 in an undeployed condition. If the currently deployed buoy 320 breaksfree, a mechanical activator 326 can release the next reserve buoy 320′in line. Tethered by its line 324 and coupling 326, this released buoy320′ begins to float to the surface of the water to expose its GPSreceiver 322 to obtain readings. The mechanical activator 314 can be asolenoid operated latch or other electronic device and can be operatedmanually from the vessel (not shown) via the streamer 60 or operatedautomatically by electronics in the module 312.

In FIG. 12C, another controllable deployed device 80C again includes adrag producing device or drogue 310 and a buoy 320. The buoy 320 extendsoff from the tail end of the streamer 60 with a low drag tether line324. In addition, the buoy 320 may be intended to shed ice floes andbounce away from ice and then return to the surface when accessible.Should the surface ice become too problematic, however, a winch 318,reel, or the like can be driven by a motor to pull the line 324 and buoy320 back under the surface. Operators can operate the winch 318 torelease the buoy 320 when the conditions improve. This deployed device80C can also use many of the other features disclosed above.

As shown in FIG. 12D, the marine seismic survey system 10D has acontrollable deployed device 80D whose depth can be controlled. Duringsurveying, the deployed device 80D is towed on the end of the streamer60 below the surface of the water to avoid impacts with ice floes. Toobtain GPS readings, the deployed device 80D has a GPS receiver 82 athat can be brought to the surface by controlling the depth of thedevice 80D. Therefore, the deployed device 80D is preferably towed belowthe surface in line with the streamer 60 and is brought to the surfaceto obtain GPS readings with the receiver 82 d at appropriate times.

FIGS. 13A-13B illustrate the deployed device 80D in two operatingconditions. In its standard gliding condition of FIG. 13A, the deployeddevice 80D follows behind the streamer 60 underwater. This position issuitable when ice floes, obstructions, or the like are at the surface ofthe water that can damage or obstruct the deployed device 80D. When aclearing develops at the surface, the deployed device 80D can be raisedto the surface so that the GPS receiver 82 d can obtain GPS readings. Tomap the array of streamers 60 and sensors 70 adequately, these GPSreadings may need to be made at periodic intervals so the location ofthe streamers 60 and sensor 70 can be sufficiently tracked.

The deployed device 80D can be a controllable vehicle, device, orglider. In one arrangement, for example, the deployed device 80D can bea Remotely Operated Vehicle (ROV) having a propulsion system andcontrollable fins or the like to steer the deployed device 80D todesired positions in the water as it is towed. Alternatively, thedeployed device 80D can be a towed glider that moves up or down usingbuoyancy control, as described in more detail latter. In yet anotheralternative, the deployed device 80D can be a Remotely Operated TowedVehicle (ROTV) lacking a propulsion system but having controllable fins,as also described in more detail latter.

FIG. 14 illustrates an embodiment of a deployed device or controllablevehicle 350A for the disclosed marine seismic system. The vehicle 350Aattaches to the end of the seismic streamer 60, which provides power andcommunications for the vehicle 350A. A tether 61 can be used for thispurpose. Fins 354/356 on the vehicle 350A may be movable, and thevehicle 350A can have a propulsion system 360, such as a propeller.Alternatively, the fins 354/356 do not need to be movable. Instead, thevehicle 350A uses buoyancy control, as described below. Likewise, thevehicle 350A does not use propulsion, and the system 360 on the vehicle350A may actually be a brake, as also described later.

As shown, the vehicle 350A has a detector 365 for detecting surfaceobstructions. This detector 365 can include sonar, ice profiler, opticalsensor, multi-beam fathometer, camera, or the like that is upwardlooking and monitors for obstructions (or clearings) above the vehicle350A. Signals from the detector 365 can be integrated with a navigationand/or control system (not shown) for acquiring marine seismic data,such as the Orca® system. In this way, the control system can determinewhen the surface above the vehicle 350A is free of ice and can signalthe vehicle 350A to rise to the water's surface.

As one example, the detector 365 can use sonar to detect when ice ispresent at the surface. For example, if ice of a particular thicknessesis present at the surface, the sonar detector 365 may detect thissurface ice, and this information can then be used for determiningwhether the vehicle 350A is raised or not. Although this depends on itscapabilities, the sonar detector 365 is preferably able to detectthinner ice that is at least less than 1-m thick so the vehicle 350A canbe protected from most surface ice that may be present.

As another example, the detector 365 can be an optical sensor thatdetermines available light at the surface, which may indicate thepresence or absence of ice. Along these lines, the detector 365 can be adigital camera that feeds video or images along the streamer 60 to thetowing vessel. The tail ends of the streamers 60 can lie a significantdistance from the tow vessel, and operators will not be able todetermine where the streamers 60 are and what ice may be over thevehicles 350A. Therefore, operators can view the video or images fromthe camera 365 and determine whether to raise a particular vehicle 350Aor not if a clearing is present. This can then be done remotely byactivating the vehicles 350A with signals communicated from the vesselto the vehicles 350A via the streamers 60.

The vehicle 350A also has a GPS receiver 352. As shown, this GPSreceiver 352 can be located on an upward fin 354 so that the antenna 352can peek above the surface of the water when the vehicle 350A glides tothe surface for acquiring GPS readings. Regardless of how the GPSreceiver 352 is surfaced, the GPS readings obtained are communicated tothe instrument control system for positioning the streamer 60 anddetermining its location for proper data acquisition and analysis.

Because continuous GPS readings may not always be available, the vehicle350A may include a compass or declinometer 367, which can be tetheredfrom the end of the vehicle 350A to keep it away from any interferingelectronics. The declinometer 367 can use a single-axis magnetometer tomeasure declination in the Earth's magnetic field, and the declinationcan then be corrected to a true north reading so the instrument controlsystem can determine the position of the end of the streamer 60 in theabsence of GPS readings usually used for that purpose.

The vehicle 350A intermittently gets GPS readings by going to thesurface to obtain GPS data with the GPS receiver 352. Then, diving underthe surface, the vehicle 350A can use the previously obtained GPS dataalong with inertial navigation data, compass readings, and currentdeclinometer data to determine the real-time or near real-time locationof the streamer 60 on an ongoing bases until new GPS readings can beobtained.

FIG. 15 illustrates another deployed device or vehicle 350B and revealssome inner details and components. On the vehicle 350B, the fins 354 arenot movable, and the vehicle 350B does not use propulsion. Instead, thevehicle 350B uses buoyancy control having a volume (e.g., bladder) 380in a free-flooded tail of the vehicle 350B. The volume of this bladder380 can be adjusted using a pumping system 382 or the like so that thebuoyancy of the vehicle 350B can be altered in a controlled manner.

To change the pitch and roll of the vehicle 350B, a mass 370 can beshifted axially along the length of the vehicle 350B or rotated about anaxis. Preferably, the mass 370 is the actual battery used for thevehicle's electronic components, which include servos or other motorsfor moving the mass 370.

In contrast to the GPS receiver of FIG. 14, the GPS receiver 352 shownin FIG. 15 is located on the end of an extended arm or mast 353. Thisarm 353 can extend upward at an angle from the vehicle 350B so that theGPS receiver 352 can extend from out of the water when the vehicle 350Bglides near the surface. Alternatively, the mast 353 can be pivoted atits base 355 from a streamlined position in line with the vehicle 350Bto an upward angled position. When the vehicle 350B is periodicallybrought to the surface to obtain GPS data, the mast 353 can be activatedto pivot the GPS receiver 352 out of the water at this base 355.

In general, the vehicle 350B can have features similar to those used forvehicles and drifting profilers that measure subsurface currents,temperatures, and the like in the oceans. As such, the vehicle 350B hasa chassis (not shown) holding the variable buoyancy system 380, mass370, and electronics section 390. An isopycnal hull 357 suitable for thedensity of seawater can fit in sections on the chassis. The hull 357 andchassis can then fit within a fiberglass housing 351 having the fins 354and streamlined shape. The mast 353 for the GPS receiver 352 can connectto the electronics section 390 and can extend from the housing 351.

3. Brake for Deployed Device

As previously illustrated in FIG. 12B, for example, the streamer 60 isheld below the surface of the water using the ice skeg 50 and otherfeatures disclosed herein. Steaming at a depth, the streamer 60 is freeof any surface tensions and other conditions at the water's surface thatmay produce significant drag on the streamer 60. Therefore, if thetowing vessel 30 encounters large ice, obstructions, engine failures, orother problems and either slows or stops towing, the streamer 60 maytend to glide under the water toward the stern of the vessel 30.Usually, the towing vessel 30 has redundant systems (engines, etc.) toprevent stops. In icy waters, however, the vessel 30 running through icefloes can encounter any number of obstacles that slow or stop the vessel30, regardless of these redundancies.

If the gliding of the streamer 60 is left unhindered, the streamer 60can collapse on itself, become entangled with other streamers 60, oreven get caught in the propeller of the vessel 30. To mitigate thisissue, the deployed device or vehicle 350 on the streamer 60 can use abrake mechanism to increase drag of the steamer 60 or apply reversepropulsion to the steamer's movement. The particular brake shown on thevehicle 350 in FIG. 16A uses a propeller 362. When left free spinning,the propeller 362 may spin and not produce significant drag to reducethe glide of the vehicle 350. Once activated if the vessel slows orstops, then torque can be applied to the propeller 362 to hinder itsspin and to produce drag that reduces the glide of the vehicle 350.Alternatively, an internal motor in the vehicle 350 may turn thepropeller to apply reverse propulsion.

Another brake in FIGS. 16B-16C has expandable fins 364. Shown undeployedin FIG. 16B, the fins 364 fit against the side of the vehicle 350allowing it to glide through the water. When activated due toslowing/stopping of the vessel 30, then the fins 364 deploy outward fromthe vehicle 350 as shown in FIG. 16C to slow the forward glide of thevehicle 350. The activation of the fins 364 as well as the other brakesdisclosed herein can be controlled by the control system (not shown) onthe vessel communicating with the vehicle 350 using the streamer 60.

FIGS. 17A-17C show a third brake for the vehicle 350 in an undeployed,deployed, and released condition. This form of brake uses a deployabledrogue 366. Initially, the drogue 366 remains undeployed as shown inFIG. 17A, while the vehicle 350 is allowed to glide with the streamer60. The drogue 366, for example, can be housed in the end of the vehicle350. When the vessel 30 slows or stops, then the drogue 366 is deployedfrom the end of the vehicle 350 as shown in FIG. 17B to slow the forwardglide of the vehicle 350 and streamer 60.

Once deployed, the drogue 366 opens and trails behind the vehicle 350 toprovide resistance when pulled through the water. In general, the drogue366 may take the form a parachute or cone 367 and can be held by tetherlines 369. Depending on the loads, the drogue 366 may have holes oropenings to allow some flow therethrough. Once slowing of the vehicle350 is no longer needed, the drogue 366 can be released as shown in FIG.17C.

In one arrangement, the vehicle 350 may only have one such deployabledrogue 366. Once deployed to prevent the streamer 60 from moving forwardwhen the vessel slows or stops, the drogue 366 can be released to allowthe vehicle 350 to function normally. However, the vehicle 350 may notbe able to prevent another instance of slowing or stopping. Therefore,in other arrangements, the vehicle 350 can have multiple deployabledrogues 366 that can be automatically deployed when needed and thenreleased after use so that another such drogue 366 can then be usedlater if needed.

Other forms of brakes could also be used on the vehicle 350 to slow itsforward movement in the event the attached streamer 60 moves forwardtowards the vessel. For example, the brake 360 can include expandingfins, umbrella structures, parachutes, and the like. These brakefeatures can be extended or deployed from the vehicle 350 when triggeredto stop the forward movement of the vehicle 350 and attached streamer60.

F. Additional Arrangements to Handle Steamers Relative to Vessel

Embodiments of brakes for deployed devices have been discussed above. Inaddition to these embodiment, other arrangements can be used with thedisclosed system to handle gliding of the streamers 60 to the vesselwhen slowed or stopped abruptly.

In FIG. 18A, a tow vessel 30 tows a streamer 60, and a drag producingapparatus 330 having a drogue 332 or the like drags at the tail of thestreamer 60. On the vessel 30, a tension device 342 monitors the tensionof the lead-in streamer cable 65 using techniques known in the art.Although the tension depends on the circumstances, it can be senseddirectly with an appropriate device, or it can be mathematicallycalculated based on the tow speed, the length of the streamer, thediameter of the streamer, and the amount of drag produced, as well asother factors.

Regardless of how obtained, the tension level is fed to a controller 340coupled to a reel 344 for the streamer 60. If the tension is lost due tothe vessel 30 having to slow or stop, then the controller 340 activatesthe reel 344 to bring in the streamer 60 automatically at a speed thatcan maintain the needed tension and keep the streamer 60 from goingunder the vessel 30. An alarm can be sounded on the vessel 30 so thatoperators can prepare to remove the devices mounted on the streamer 60if they must be brought on board quickly.

To bring in the streamer 60, it may be necessary to first release thestreamer cable 65 from the ice skeg 50 by releasing and detaching thebend limiter (not shown) discussed previously. Additionally, operatorsmay need to detach any towlines (not shown) connected between the skeg50 and the cable 65.

In FIG. 18B, a tow vessel 30 tows a streamer 60, and a drag producingapparatus 330 having a drogue 332 or the like drags at the tail of thestreamer 60. On the vessel 30, a controller 336 uses a tension monitor(not shown) or calculations to monitor the tension of the lead-instreamer cable 65 using techniques known in the art.

If the vessel 30 has to slow or stop, then the controller 336 activatesa reverse propulsion device 334 towed at the end of the streamer 60.Similar to previous discussions, this reverse propulsion device 334 caninclude a propeller and a motor, turbine, or the like. Once activated,the device 334 creates reverse propulsion that slows the forwardmovement of the streamer 60 or at least reduces its rate. Depending onthe implementation's details, such as the weight of the streamer 60, thetow speed, and other factors, the reverse propulsion required by thedevice 334 may need to be as high as 75 hp.

G. Deployment Arrangements for Systems

Because the towing vessel 30 tows the seismic array in icy waters,deployment of the seismic survey components preferably accounts forpossible issues with ice floes and the like that can hinder thedeployment and retrieval of the streamers 60 and sources 90. As notedpreviously (specifically with reference to FIGS. 4A-4C), deployment andretrieval of the system may be performed when the towing vessel 30 isaway from significant ice. For example, the seismic system can bedeployed normally before putting cables into the skeg 50 and submergingthe various components.

In a typical implementation, the streamers 60 can be several kilometersin length, and deploying the seismic system in a clearing may require asignificant area that may not always be available in icy regions.Therefore, it is desirable to be able to deploy/retrieve the disclosedseismic systems in other areas of an icy region, including those havingice.

For reference, FIG. 19A shows a tow vessel 30 traveling through an icyregion that is not entirely clear of ice. The vessel 30 has an ice skeg50 from which one or more sources and streamers can be towed. The vessel30 may break the ice and/or push ice floes out of the way as it travelsso that a narrow deployment area Z lies in its wake where ice may berelatively absent. Of course, this depends on how tightly the ice ispacked and how it might be traveling.

When conditions permit, it is preferred to be able to deploy andretrieve the streamers 60 of an array in such a cleared area Z.Therefore, the deployment and retrieval techniques for surveying in icywaters preferably take advantage of this potentially cleared area Z. Theexamples below discuss several forms of seismic arrays that can bedeployed and retrieved in such an area Z.

In FIG. 19B, a first form of seismic array 11A uses direct towlines 62from the skeg 50. These lines 62 are deployed with paravanes 64 on theend. Then, steamers 60 having sensors 70 and deployed devices 80 can bedeployed in the water in the cleared area Z and then coupled to thedirect towlines 62 using a coupling 66, such as a ball joint. Thisarrangement can allow several streamers 60 to be deployed separately inthe shadow of the vessel 30 and individually coupled to the towlines 62.

For reference, FIG. 9C shows an example of a paravane 240 that can beused with the disclosed system. This paravane 240 has a frame 244holding one or more louvers or vanes 242 intended to engage the waterwhen towed therein. Because the paravane 240 support streamers (60)towed below the surface of the water, the paravane 240 is preferablyneutrally buoyant. Accordingly, the paravane 240 can have a buoyancyelement or float 246 disposed thereon or connected thereto that isintended to make the paravane 240 neutrally buoyant at a predetermineddepth. This buoyancy element 246 may be filled with a foam or the like,or it may contain a fillable volume (e.g., bladder or chamber) asdisclosed herein to configure its buoyancy. Additionally, the paravane240 may have controllable wings (not shown) as disclosed elsewhereherein to control the depth of the paravane 240 when being towed.

In FIG. 9D, the dynamics of a paravane 240 having a buoyancy element 246are diagrammatically illustrated. As expected, the paravane 240 acts asa wing or door in the water. Gravity acts to pull the paravane 240 togreater depths, the passing water acts against the surface of theparavane 240, and the towlines pull the paravane 240 against the water.Finally, the buoyancy element 246 acts to maintain the paravane 240 at adesired depth in the water. At the same time, the arrangement of theparavane's geometry and the applicable forces must be handled so thatthe paravane 240 remains stable in the water when being towed and doesnot twist and turn due to torque.

To maintain depth and stability, the buoyancy element 246 can include adepth sensor 241, a controller 245, and a buoyancy chamber 247. Inresponse to changes in the depth beyond a desired level detected by thedepth sensor 241, the controller 245 can adjust the buoyancy of thechamber 247 to alter the paravane's depth. For example, the controller245 can operate a valve or pump 243 and can flood or evacuate water inthe chamber 247 filled with air.

In FIG. 19C, a second form of seismic array 11B uses multiplecontrollable vehicles 80/85 and streamers 60 with sensors 70. To achievethree-dimensional operation, each of the leading vehicles 85individually tows a streamer 60. Towlines and streamer cables 65 connectthe leading vehicles 85 to the vessel 30. The position and depth of eachvehicle 80/85 is controlled to maintain an appropriately arranged arrayof streamers 60 for the seismic survey. In addition, the controlleddepth allows the streamers 60 to avoid any ice floes at the surface. Ingeneral, each vehicle 80/85 can be an autonomous underwater vehicles(AUVs), a remotely operated vehicle (ROV), a remotely operated towedvehicle (ROTV), or some other suitable vehicle depending on theimplementation. If the leading vehicles 85 are strictly autonomousunderwater vehicles (AUVs), then they may not be attached to the vessel30 by a towline or tether.

Being independent of one another, the vehicles 85 also facilitatedeployment and retrieval of the streamers 60 during operation. Forexample, an individual vehicle 85 can guide its streamer 60 down underthe other streamers 60 and can bring it up through the middle of thearray of streamers 60 in the potentially cleared area Z. The vehicle 85can then pull its steamer 60 up to the vessel 30 and avoid the otherstreamers 60 and towlines and cables 62/65. This will allow operators todeploy and retrieve the streamers 60 individually and can even allow forrepair of a steamer 60 while all of the other streamers 60 remain in thewater. Using the vehicles 85 is also beneficial in icy waters, becausethe vehicles 85 allow the towlines 62 to be less taut thanconventionally done, and the less taut lines 62 in the icy waters arebetter suited to handle potential impacts with ice during operation.

FIGS. 19D and 19E show additional forms of seismic arrays 11C and 11Dthat use a splayed arrangement of the streamers 60. In FIG. 19D, a crossarm 89 is deployed underwater from the skeg 50 in the shadow of thevessel 30, and several streamers 60 couple to the cross arm 89 usingappropriate couplings. These steamers 60 can then splay outward from thecross arm 89 using one or more controllable fins or wings 87 disposedalong their length.

In FIG. 19E, each of the streamers 60 deploy individually from the skeg50 so that they deploy underwater and in the shadow of the vessel 30. Asbefore, these steamers 60 can splay outward from the skeg 50 using oneor more controllable fins or wings 87 disposed along their length.

For reference, FIG. 9E shows a perspective view of a controllable fin 87a that can be used to steer a streamer 60 (i.e., control the lateralposition of the streamer 60). In addition, FIG. 9F shows a side view ofa controllable wing 87 b that can be used to control the depth (i.e.,vertical position) of a streamer 60. Details of such devices having finsor wings deployable on a cable for controlling the lateral or verticalposition of a streamer cable can be found in U.S. Pat. Nos. 6,525,992;7,092,315; 7,206,254; and 7,423,929, which are each incorporated hereinby reference.

For example, these controllable fins or wings 87 in the systems of FIGS.19D-19E can be DIGIFIN™ streamer steering systems available from IONGeophysical to steer the streamers. They can also be DIGIBIRD™ streamersteering systems available from ION Geophysical to control the depth ofthe towed streamers. (DIGIBIRD is registered trademarks of IONGeophysical Corporation.)

Control of the fins or wings 87 and determination of the location of thesensors 70 can be performed using the control system 40 and availablesoftware. Other devices that can also be used include the Compass Birdstreamer systems available from ION Geophysical for providing compassheading information and depth measurement and control. Moreover, thecontrol system 40 and available software can control the various finsand wings 87 to avoid ice bergs or large chunks of ice that may happento travel at the surface over the array of streamers 60 and potentiallyhas a depth sufficient to damage the submerged streamers 60.

Although one skeg 50 is shown in the arrangements of FIGS. 19A-19E, itis possible for a vessel to use multiple skegs 50 on the vessel 30 todeploy streamers 60. Using the multiple skegs 50 can help in thedeployment and retrieval of the streamers 60 by dividing them up intheir arrangement.

Although the arrangements in FIGS. 19B-19D and elsewhere show a singlesource, multiple sources could be used. For example, FIG. 19E shows onesource 90A in a conventional location towed behind the vessel 30. Inaddition, another source 90B is towed behind the splayed array of thesteamers 60. This second source 90B can be used to obtain a reversereading from the steamers 60, which can be advantageous for dataacquisition and analysis.

H. Control and Position System

The systems in FIGS. 19A-19E and those disclosed elsewhere herein use acontrol system 40 that can use conventional features for marine seismicsurveying. For example, the control system 40 can control lateralsteering of the streamers 60 using streamer technology currentlyavailable for conventional marine seismic surveying in non-icy waters.For icy regions, the control system 40 can be integrated with additionalfeatures for handling information related to icy waters. For example,the control system 40 can be integrated with information from satelliteimagery, nautical charts, weather forecasting, and other information topredict thickness of ice for a survey region and to find clearings inthe ice in given areas.

Satellite images can be limited, and ice floes and locations of icebergs, chunks, and other obstructions can change over time. Therefore,it would be helpful to keep track of the position of particularobstructions and determine how they are moving and how their movementsmay hinder the survey being conducted. Accordingly, the control system40 can also use separate position sensors that are placed on ice bergsor other floating obstructions that could threaten the steamer arrayduring the seismic survey.

As shown for example in FIG. 19E, the positions sensors 42 can bebattery operated and can have a GPS receiver 44 and a communicationinterface 46. When located on an obstruction, the position sensor 42 canbroadcast information about its location. For example, as the icebreaker vessel (not shown) breaks ice ahead of the surveying vessel 30,operators may place these separate position sensors 42 on particularlylarge or deep ice chunks or bergs. Then, using an appropriatecommunication link with the separate position sensor 42, the controlsystem 40 can track the movements of the obstruction.

Its movement may be immediately tracked to determine if it willinterfere with the array of streamers 60 currently being towed by theseismic vessel 30. If that is the case, the steamers 60 can be steeredaway or to a greater depth for protection. In addition, the movement ofthe obstructions can be tracked over time so the control system 40 canknow the location of the obstructions when the streamers 60 are towedback over the area when mapping. Depending on whether the obstructionhas moved into the proposed path of the survey, operators can alter thecourse of the seismic vessel 30 to avoid the obstruction's knownposition.

1. System Using Controllable Deployed Devices

As noted previously, the controllable deployed devices 80 can be used onthe tail end of the steamers 60 to control position of the streamers 60.As also noted previously, the devices 80 can include Remotely OperatedTowed Vehicles (ROTVs) that lack a propulsion system but havecontrollable fins. FIG. 20A illustrates a side view of a marine seismicsurvey system 12A having a Remotely Operated Towed Vehicle (ROTV) 400 asthe controllable device at the tail end of the streamers 60. The ROTV400 is towed on the end of the streamer 60 below the surface of thewater. This ROTV 400 also has a GPS receiver 412 that can obtain GPSreadings once the ROTV 400 is brought to the surface.

FIG. 20B illustrates a plan view of another marine seismic survey system12B having ROTVs 400 at multiple locations on the streamers 60. In thissystem, leading ROTVs 400A are towed at the head of the streamers 60,and trailing ROTVs 400B are towed on the end of the streamers 60. Theleading ROTVs 400A connect by towlines 62 and streamer cables 65 off thevessel's skeg 50. If desired, even intermediate ROTVs (not shown) may bedeployed at intermediate locations along the streamers 60.

To achieve three-dimensional (or even 2-D or 4-D) operation, each of theleading ROTVs 400A individually tows a streamer 60. Towlines andstreamer cables 62/65 connect the ROTVs 400A to the vessel's skeg 50.During surveying, the position and depth of each ROTV 400A-B can becontrolled to maintain an appropriately arranged array of streamers 60for the seismic survey. In addition, the controlled depth allows thestreamers 60 to avoid any ice floes at the surface.

Using the ROTVs 400A-B in leading and tailing locations along thestreamers 60 can facilitate deployment and retrieval of the streamers60. Being independent of one another, for example, individual ROTVs400A-B can guide their streamer 60 down under the other streamers 60 andcan bring it up through the middle of the array of streamers 60 in thepotentially cleared area behind the vessel 30. The steamer 60 can thenbe pulled up to the vessel 30 and avoid the other streamers 60 andtowlines 62. This will allow operators to deploy and retrieve thestreamers 60 individually and can even allow for repair of a steamer 60while all of the other streamers 60 remain in the water. Use of a singleROTV 400 on the tail of the streamer 60 as in the system of FIG. 20A mayalso be capable of the same form of deployment and retrieval.

2. Details of ROTV

FIGS. 21A-21B show one embodiment of a Remotely Operated Towed Vehicle(ROTV) 400 in more detail. In general, this ROTV 400 is a hybrid type ofdevice incorporating elements of ROVs, AUVs, and gliders. One suitableexample for the ROTV 400 is a TRIAXUS Towed Undulator available fromMacArtney Underwater Technology Group.

For towing the ROTV 400, a tow cable (not shown) having power conductorsand communication lines connects to the leading edge 49 of a center foil427. As shown, the ROTV 400 has four tubulars 410 interconnected intheir front section by foils 420/425 and in their trailing section byflaps 430. The foils 420/425 and flaps 430 have a wing shape. Centralfoils 425 interconnect the leading foils 420 and support the horizontalfoil 427 in the front of the ROTV 400. These central foils 425 help keepthe ROTV 400 leveled in its roll direction. The trailing flaps 430 arecontrollable with the upper and lower flaps 430A-B controlling pitch andthe right and left flaps 430C-D controlling yaw.

Four actuators or motors (not shown) installed in each of the tubulars410 move these flaps 430A-D to control the pitch and yaw of the ROTV 400as it is towed. The tubulars 410 have compartments 412 for holdingvarious components besides the motors, gears, and position sensors forthe flaps 430A-D. For example, these compartments 412 can have a GPSreceiver, an inertial navigation system, a depth sensor, a pitch sensor,a roll sensor, a heading sensor, etc., discussed below.

While being towed, the horizontal flaps 430A-B produce up and downforces to move the ROTV 400 vertically, while the vertical flaps 430C-Dproduces starboard and ports force in order to move the ROTV 400horizontally (laterally). Typically, the ROTV 400 will be towed in aneutral position with the flaps 430 being adjusted intermittently tomaintain the ROTV 400 as is. Some situations, such as rising to thesurface, will require more aggressive movement of the flaps, especiallywhen connected to a streamer. Braking for the ROTV 400 can use some ofthe techniques discussed previously. Additionally or in the alternative,the flaps 430 can be turned inward or outward to increase the ROTV'sdrag while being towed.

3. Control System for ROW, INS, and GPS

FIG. 22 schematically illustrates elements of a control system 500 forcontrolling controllable vehicles (e.g., ROTVs 400) and determiningtheir locations while being towed in a marine seismic system of thepresent disclosure. As noted previously, the main control system 510 onthe towing vessel has a main GPS receiver 520 for obtaining GPSreadings. As before, this control system 510 can be an instrumentationcontrol system such as Orca® available from ION Geophysical. The controlsystem 510 interfaces with (or is integrated with) a control unit 530,which controls and monitors the various vehicles (e.g., ROTVs) used forthe streamers in the array. An example of a suitable control unit 530for an ROTV 400 of FIGS. 21A-21B is the topside unit used for theTRIAXUS ROTV.

Connected by communication and power lines 532, the control unit 530interfaces with a local controller 550 on a controllable vehicle 540,which can be an ROTV 400 of FIGS. 21A-21B. The controller 550communicates sensor data from the device's sensors 560 to the controlunit 530. After interfacing with the navigational information in themain control system 510, the control unit 530 sends navigationalinstructions back to the controller 550, which operates the various finmotors 570 appropriately. Navigating the controllable vehicle 540 caninvolve both real-time control and preprogrammed trajectories.

The controller 550 communicates with the device's integrated sensors 560and to the motors 570 for the flaps. The integrated sensors 560 forcontrolling the device 540 include a depth sensor, a pitch sensor, aroll sensor, and a heading sensor. The depth can be measured with apressure sensor, while pitch and roll can be measure by bi-axialinclinometers. The yaw or heading can be measured using a fluxgatecompass, and an altimeter can also be used.

In addition to the integrated sensors 560, the controller 550 canconnect to position sensors that monitor the motors and flaps to keeptrack of the positions of these flaps to feedback to the control unit530. All of these integrated sensors (i.e., pitch, roll, heading, andmotor position) provide feedback for the control system 510 to controlthe flaps to direct the controllable vehicle 540 and keep it fromrolling.

Aside from these sensors, the controller 550 on the controllable vehicle540 communicates with a GPS receiver 580. As noted previously, when thecontrollable vehicle 540 is brought to the surface, the antenna for theGPS receiver 580 can be exposed above the water's surface to obtain GPSreadings. Yet, such readings are expected to be intermittently made.Likely, when used in icy or obstructed waters, the controllable vehicle540 may be towed under ice floes for several continuous hours or evendays before it can be resurfaced to obtain GPS readings. Therefore, thecontrollable vehicle 540 also has an Inertial Navigation System (INS)device 590 used for determining the location of the controllable vehicle540 between direct GPS readings with the GPS receiver 580.

In general, the INS device 590 can uses components known in the art,such as a processor, accelerometers, and gyroscopes. The INS device 590uses dead reckoning techniques to determine position, orientation,direction, and speed of the controllable vehicle 540 continuously.Depending on how long the controllable vehicle 540 must be dead reckonedin this way, the drift error inherent to the INS device 590'smeasurement of acceleration and angular velocity becomes increasinglymagnified. Accordingly, the navigation is preferably corrected byperiodic GPS readings. Even with an error of a fraction of a nauticalmile per hour for position and tenths of a degree per hour fororientation, error in the INS device 590's determination can besignificant if the controllable vehicle 540 must remain below thesurface for extended periods. Discussion below describes a feedback loopthat can be used to correct the INS device 590's determination.

4. Control Loop

FIG. 23 shows an example of a navigational feedback loop 600 fordetermining the position of a controllable vehicle (e.g., 540; FIG. 22),such as an ROTV, and correcting that position. Initially in the loop600, the controllable vehicle 540 obtains a direct GPS reading using itsGPS receiver 580 (Block 602). This is done while the area above thecontrollable vehicle 540 is free of ice floes or other obstructions.After the controllable vehicle 540 submerges again, the INS device 590and control system 510 begin determining the position of controllablevehicle 540 as it is towed (Block 604). This is done by taking thestarting location or fix from the GPS reading and measuring direction,speed, and time to calculate the position of the controllable vehicle540 going forward from that starting position using dead reckoningtechniques.

Unfortunately, this form of inertial navigation is not precise and drifterror accumulates over time. As long as the drift error is low enough,this inertial navigation can continue. At some point, the control system510 determines whether drift error has exceeded some acceptable rangethat depends on the implementation (Block 606). If not, then the controlsystem 510 can continue dead reckoning (Block 604) until the drift erroris too large.

Once the drift error is large (due to a long period of dead reckoning,fast survey speeds, long survey distance, or a combination of thethese), the control system 510 seeks to correct the error by eitherresurfacing the controllable vehicle 540 to obtain a new GPS readingthat fixes the device 540's position or by integrating the INS device'sdead reckoning with feedback from the vessel's main navigation system.Accordingly, the control system 510 determines from manual input or fromthe sensors (sonar, ice profiler, fathometer, etc.) on the controllablevehicle 540 whether the device 540 can rise to the surface (Decision608) to obtain another GPS reading to fix the device's location (Block602) to repeat the process.

If the controllable vehicle 540 cannot surface, then the control system510 obtains a GPS reading using the on-board GPS receiver 580 of thevessel (Block 610). This GPS reading gives the location of the towvessel. As an additional supplement, the system 510 obtains data fromthe various in-water devices (i.e., controllable vehicle 540, streamer,sensors, etc.) (Block 612). This data can be used to determine therelative position of the controllable vehicle 540.

For example, FIG. 24 shows a system 620A having a steamer 60 withsensors 70 positioned thereon for determining the shape of the streamerusing a GPS reading (x) for the vessel 30, known sensor locations(Y1-Y5), known controllable vehicle location (Y6) along the streamer 60,and various compass headings. As shown, data about the sensors 70 andcontrollable vehicle 540 on the streamer 60 (including each of theirpositions (Y) on the streamer 60, compass headings corrected bydeclination, and the like) can be used to estimate the location ofpoints on the streamer 60 and derive the streamer's shape. Combined withthe vessel's GPS reading (X) using the on-board GPS receiver 580, all ofthis data can be integrated with the position data from the INS device(590; FIG. 23) to correct its drift error.

Alternatively, acoustic positioning techniques can be used along withthe GPS reading using the on-board GPS receiver 580 to correct drifterror of the INS device. As shown in systems 620B-C of FIG. 25, forexample, different arrangements of acoustic systems for performingacoustic cross-bracing are shown that can be used to determine thestreamers' positions. Additionally, as shown in system 620D of FIG. 26,a short base line can be obtained by using a transducer T₁ on the vessel30 to “ping” a sensor 541 on the controllable vehicle 540 toward thetail end of the streamer 60 to determine its position. Also, a long baseline can be obtained by using one or more other transducers T₂ on theseabed (a minimum of two transducers are needed for a long base linesystem) to “ping” the sensor 541 on the controllable vehicle 540 todetermine its position. Finally, even the control sensor readings fromthe controllable vehicle 540 and the movements directed to thecontrollable vehicle 540 by the control unit 530 can be integrated withthe on-board GPS reading (X) to determine the position of thecontrollable vehicle 540. These and other techniques available in theart can be used.

Regardless of how the INS device's position is integrated with feedbackfrom other navigation components, the control system 510 corrects thedead reckoned position of the controllable vehicle (See Block 614 inFIG. 23) so the system can continue using the INS device 590 with lessdrift error. The entire process of dead reckoning and correcting thedrift error may continue as long as the controllable vehicle 540 remainssubmerged below the surface. Eventually, should conditions allow it, thecontrollable vehicle 540 is directed to the surface to obtain a directGPS reading to fix its location (Block 602 in FIG. 23). This new GPSreading provides a new starting point for dead reckoning and correctingwhile the controllable vehicle 540 remains submerged in furthersurveying.

I. Handling Noise in Obstructed Waters

When surveying in obstructed waters and especially icy regions, impactsfrom the vessel can complicate the seismic data obtained. In FIG. 27,yet another marine seismic survey system 650 again has the ice skeg 50and horizontal source 90 as before, although other components disclosedherein could be used. This system 650 records events as the ice breakingvessel 20 travels during the survey and breaks pack ice and impacts icefloes. Processing of resulting seismic data obtained with the sensors 70can then use the recorded events, which include ice breaking andimpacts. Briefly, the system 650 has a seismic recorder 750, which caninclude conventional hardware for recording marine seismic data obtainedwith the sensors 70 on the steamers 60. In addition, the system 650 hasan ice impact recorder 760 on the hull of the ice breaker vessel 20,although one could also be included on the tow vessel 30.

Operation of the system 650 in FIG. 27 is discussed concurrently withreference to FIG. 28. In use, the system 650 obtains seismic data in anicy region and accounts for ice impact events that may occur whiletowing the streamers 60. As unusual, operators tow the streamers 60having the sensors 70 with the tow vessel 30 (Block 702; FIG. 28). Aheadof the tow vessel 30, the ice breaking vessel 20 may break pack ice anddivert ice floes to make a tract for passage of the tow vessel 30.Alternatively, the tow vessel 30 may be used alone and may break anddivert ice on its own. In any event, the ice impact recorder 760 recordsice impact events while the streamers 60 are being towed (Block 704). Inresponse, the ice impact recorder 760 records information for thedetected events for later analysis (Block 706). This is repeatedthroughout the towing operation.

As schematically shown in FIG. 29, the seismic recorder 750 has thesensors 70 run along the streamers, a GPS device 754, and a recordingdevice 756. As it records seismic data, the recording device 756 alsoobtains location and time information from the GPS device 754 andrecords that information as part of the seismic record. How the seismicdata is recorded and is stored can use conventional practices known inthe art. Eventually, the seismic recorder 750 can be coupled to thecontrol system (40), such as a computer system or the like, that canprocess and analyze the seismic record.

As schematically shown in FIG. 30, the ice impact recorder 760 has asensor 762, a GPS device 764, and a recording device 766. The sensor 762can use one or more accelerometers, inertial sensors, geophones, or thelike that can at least detect the frequency and duration of impactsbetween the vessel's hull and ice. Accordingly, the sensor 762 isacoustically coupled to or mounted on the vessel's hull. For their part,the GPS device 764 and the recording device 766 can be conventionalcomponents. When recording impact events, the recording device 766records a stream of data or discrete data points. As shown in therepresentative table 765 of FIG. 31, for example, the impact recorder(760) can record the time, the location (i.e., GPS coordinates), thefrequency, and the duration for impact data points that occur duringoperation. This data is then stored for later use.

Packed ice when it is broken can produce a high fidelity source for theseismic survey. Each ice impact event will be different (i.e., havedifferent signature) because of differences in the speed of the vessel,the thickness of the ice, etc. Yet, the impact recorder 760 can indicatewhen the ice is hit/broken, and recorded GPS data can indicate where andwhen the ice was broken relative to each of the seismic sensors (whichalso have their locations known). In this way, the ice impact recorder760's data essentially characterizes the signature of the ice impactevents, allowing the events to be mathematically modeled for lateranalysis and processing.

Returning to the operation (FIG. 28), the system 650 (FIG. 27)concurrently operates the air guns of the source 90 according to a setroutine, while the impact recorder 760 records any impact events (Block708). In operating the source 90, for example, the source elements orguns 91 may be fired every 50-meters as the towing vessel 30 maintains apredetermined course. In response to seismic energy, the sensors 70 onthe streamers 60 detect resulting seismic data (Block 710), and theseismic recorder 750 records the seismic data obtained (Block 712).

The firing and recording is repeated throughout the towing operation andcan follow customary operations for performing marine seismic surveyingknown and used in the art. Briefly, the system 650 can generate a datastream 770 as diagrammatically shown in FIG. 32 in which the system 650can fire the air guns every 25 seconds as represented at 772. Typically,when processing the data, the control system (40) usually only processesdata during a listening period 774 (e.g., 18 seconds) following eachfiring 772. Yet, the seismic recorder (750) typically records all of thedata during a survey. Therefore, to account for impact events 776 andespecially those occurring outside the conventional listening period774, the control system (40) can adjust the listening period 774 toaccount for potential ice impact events 776 lying outside of the usualperiod 774.

Eventually, after the towing operation has been completed, the controlsystem (40) processes the resulting data, including the seismic dataobtained with the streamers 60 and data obtained with the impactrecorder 760 (Block 714). FIG. 33 graphically shows a representativeamplitude response 780 of recorded seismic data of the marine seismicsystem 650. A first amplitude response 782 resulting from the air gunsource (90) is shown, as well as a second amplitude response 184resulting from ice impact events. These responses 782/784 are onlypresented for illustrative purposes and are not intended to representactual data obtained, which would typically have a much more complexnature not suitable for representation herein. In actuality, therecorded amplitude response 780 will not have the two separate responses782/184 as representatively shown. Instead, the seismic sensors (70)will record a summed waveform of the two responses. Therefore, thecontrol system (40) deconvolves the two amplitude responses 782/784 sothe seismic record can be properly analyzed.

At this point in processing, operators can determine whether to use theice impact events as a seismic source in the recorded seismic data(Block 716). First, the recorded data for the ice impact events are tiedto the seismic record as recorded by the sensors 70. Because therecorded impact data provides the signatures of the ice impact events,the effect of the events as seismic sources in the seismic record can befiltered out of the seismic record to produce data that is substantiallyrelated to use of the air gun source only and not related to ice impactevents. Moreover, by knowing the signature of the ice impact events, theseismic record can actually be processed using the ice impact events asa passive seismic source, potentially giving the analysis additionalinformation and resolution to characterize the seabed formation.

If enough useful impact events have occurred in a given area of theseismic record, for example, operators may wish to use the events as ahigh fidelity source for generating seismic data to characterize theformation. If the events are not useful, however, operators may elect tosubtract or remove that portion of the seismic data generated due to theice impact events. Selecting to use or not to use the ice impact eventscan be done over one or more portions of the seismic record of interestor over the entire record depending on the circumstances.

If multiple ice impact events have occurred of sufficient duration andfrequency, for example, the control system (40) can isolate the eventsin the seismic data and actually use it to create a seismic record withthe ice impact events acting as a passive source. In this case,operators may elect to use the ice impact events, and the control system(40) can mathematically model the events as a high fidelity source(Block 218). This is possible because the control system (40) candetermine precisely when and where an ice impact event occurred based onthe GPS data and timestamp recorded by the impact recorder (760). Thespectrum of each individual ice impact event can be modeled and thensubsequently used as a source in the seismic data. Only those impacts ofa significant amplitude, frequency, and duration may be of interest foruse as high fidelity sources of seismic data. Characteristics of the iceimpact events will vary based on numerous variables.

As long as the control system (40) knows when and where the impactsoccurred along with the impact event's signature (i.e., frequency andduration), then the control system (40) can use the impact event as ifwas a source for the seismic survey. Then, using the regular seismicdata produced by the air gun source 90 and the ice impact events as anadditional passive source, the control system (40) can analyze theseismic data to characterize the formation using known processingtechniques (Block 720).

If operators elect not to use the ice impact events, the control system(40) is used mathematically model the events (Block 722) and remove theevents' data from the seismic record using a noise attenuation routine(Block 724). Then, using the regular seismic data produced by the airgun source 90 with the ice impact events filtered out, the controlsystem (40) can analyze the seismic data to characterize the formationusing known processing techniques (Block 720).

The foregoing description of preferred and other embodiments is notintended to limit or restrict the scope or applicability of theinventive concepts conceived of by the Applicants. The teachings of thepresent disclosure can apply to 2-D, 3-D, and 4-D seismic surveying inicy or obstructed waters, as well under normal marine seismicconditions. Moreover, aspects and techniques discussed in conjunctionwith one particular embodiment, implementation, or arrangement disclosedherein can be used or combined with aspect and techniques discussed inothers disclosed herein. In exchange for disclosing the inventiveconcepts contained herein, the Applicants desire all patent rightsafforded by the appended claims. Therefore, it is intended that theappended claims include all modifications and alterations to the fullextent that they come within the scope of the following claims or theequivalents thereof.

What is claimed is:
 1. A method of marine seismic surveying inobstructed water, the method comprising: initially deploying a marineseismic survey system into the water from a vessel by letting a portionof at least one cable for the marine seismic survey system deployed fromthe vessel to the water extend exposed between the vessel and the water;subsequently protecting passage of the exposed portion of the at leastone cable of the marine seismic survey system from the vessel to below asurface of the water by bringing the exposed portion of the at least onecable into at least one open trailing edge of a protective deviceextending from the vessel to below a water line of the vessel; andoperating the marine seismic survey system in a seismic survey by towingthe marine seismic survey system below the surface of the water with theprotective device.
 2. The method of claim 1, wherein protecting thepassage of the at least one cable in the at least one open trailing edgeof the protective device comprises temporarily or permanently affixingthe protective device to a hull of the vessel.
 3. The method of claim 1,wherein protecting the passage of the at least one cable in the at leastone open trailing edge of the protective device comprises extending theprotective device from a stern of the vessel.
 4. The method of claim 3,wherein extending the protective device from the stern of the vesselcomprises extending the at least one protective device beyond a hull ofthe vessel at the stern.
 5. The method of claim 3, wherein protectingthe passage of the at least one cable in the at least one open trailingedge of the protective device comprises: extending a first of the atleast one open trailing edge in a first portion of the protective deviceseparated by an open space from a second of the at least one opentrailing edge in a second portion of the protective device.
 6. Themethod of claim 5, wherein extending the first and second open trailingedge in the first and second portions comprises positioning the firstand second portions of the protective device on either side of a screwof the vessel.
 7. The method of claim 3, wherein protecting the passageof the at least one cable in the at least one open trailing edge of theprotective device comprises extending the protective device between atleast two screws of the vessel.
 8. The method of claim 1, wherein towingthe marine seismic survey system below the surface of the water with theprotective device comprises supporting the at least one cable with atleast one towline disposed on the protective device below the surface ofthe water.
 9. The method of claim 1, wherein towing the marine seismicsurvey system below the surface of the water with the protective devicecomprises supporting a source of the marine seismic survey system towedbelow the surface of the water with a flotation device.
 10. The methodof claim 9, wherein supporting the source below the surface of the waterwith the flotation device comprises towing the flotation device belowthe surface of the water.
 11. The method of claim 10, wherein towing theflotation device below the surface of the water comprises controllingbuoyancy of the flotation device with at least one fillable volume. 12.The method of claim 9, wherein supporting the source below the surfaceof the water with the flotation device comprises supporting the sourcewith a plurality of buoys connected to the source and towing the buoysbelow the surface of the water.
 13. The method of claim 1, whereintowing the marine seismic survey system below the surface of the waterwith the protective device comprises controlling a depth of a streamerof the marine seismic system in the water using a controllable devicedeployed on the streamer.
 14. The method of claim 13, whereincontrolling the depth of the streamer using the controllable devicecomprises: bringing the controllable device to the surface of the water;and obtaining global positioning system information with a receiver onthe controllable device.
 15. The method claim 1, wherein operating themarine seismic survey system in the seismic survey by towing the marineseismic survey system below the surface of the water with the protectivedevice comprises: towing a seismic streamer of the marine seismic surveysystem below the surface of the water by bringing a vertical position ofa controllable device on the seismic streamer below the surface of thewater at least when obstructed, intermittently obtaining globalpositioning system information for the seismic streamer with a receiveron the controllable device by bringing the controllable device to thesurface of the water at least when unobstructed, and reckoning positionof the streamer based on the global positioning system information whenthe vertical position of the controllable device is below the surface ofthe water.
 16. The method of claim 1, wherein towing the marine seismicsurvey system below the surface of the water with the protective devicecomprises: producing drag on a streamer of the marine seismic systemtowed through the water; extending a buoy from the streamer to thesurface of the water by a tether line; and obtaining global positioningsystem information with a receiver associated with the buoy.
 17. Themethod of claim 1, further comprising: retrieving streamers of themarine seismic survey system onto the vessel by controlling lateral andvertical positions of the streamers relative to one another.
 18. Themethod of claim 1, wherein operating the marine seismic survey systembelow the surface of the water in the seismic survey comprises:generating a seismic source signal with a source of the marine seismicsurvey system; detecting seismic energy with a streamer of the marineseismic survey system; and recording a seismic record from the detectedseismic energy.
 19. The method of claim 1, wherein operating the marineseismic survey system in the seismic survey by towing the marine seismicsurvey system below the surface of the water with the protective devicecomprises: generating a seismic source signal with a source of themarine seismic survey system; detecting seismic energy with a streamerof the marine seismic survey system; recording a seismic record from thedetected seismic energy; detecting a random ice impact event at leastbetween the at least one vessel and ice in the obstructed water; andanalyzing the seismic record with consideration to the detected iceimpact event.
 20. The method of claim 19, wherein analyzing the seismicrecord with consideration to the detected ice impact event comprisesfiltering out the detected ice impact event from the seismic record. 21.The method of claim 19, wherein analyzing the seismic record withconsideration to the detected ice impact event comprises: isolating thedetected ice impact event from the seismic record; and using theisolated ice impact event as seismic data.
 22. The method of claim 1,wherein deploying the marine seismic survey system into the water fromthe vessel comprises: deploying at least one streamer of the marineseismic survey system into the water from the vessel using at least onestreamer cable; deploying the at least one source of the marine seismicsurvey system into the water from the vessel using at least one sourcecable; and wherein protecting passage of the at least one cablecomprises protecting passage of the at least one streamer cable and theat least one source cable below the surface of the water in the at leastone open trailing edge of the protective device extending from thevessel to below the water line of the vessel.
 23. A method of marineseismic surveying in obstructed water, the method comprising: initiallydeploying a marine seismic survey system into the water from a vessel byletting a portion of at least one cable for the marine seismic surveysystem extend exposed between the vessel and the water; subsequentlyprotecting passage of the exposed portion of the at least one cable ofthe marine seismic survey system from the vessel to below a surface ofthe water in at least one open trailing edge of a protective deviceextending from the vessel to below a water line of the vessel by:deploying a limiter on the exposed portion of the at least one cable,and pulling the exposed portion of the at least one cable into the atleast one open trailing edge of the protective device using the deployedlimiter; and operating the marine seismic survey system in a seismicsurvey by towing the marine seismic survey system below the surface ofthe water with the protective device.
 24. The method of claim 23,wherein deploying and pulling the limiter comprises: attaching thelimiter to the exposed portion of the at least one cable; running aslack line from the limiter and through the at least one open trailingedge of the protective device; and pulling the slack line to pull thelimiter and the exposed portion of the at least one cable into the atleast one open trailing edge.
 25. A method of marine seismic surveyingin obstructed water, the method comprising: initially deploying a marineseismic survey system into the water from a vessel by letting a portionof at least one cable for the marine seismic survey system extendexposed between the vessel and the water; subsequently protectingpassage of the exposed portion of the at least one cable of the marineseismic survey system from the vessel to below a surface of the water bybringing the exposed portion of the at least one cable into at least oneopen trailing edge of a protective device extending from the vessel tobelow a water line of the vessel; and operating the marine seismicsurvey system in a seismic survey by towing a source of the marineseismic survey system below the surface of the water in an angularorientation; detecting the angular orientation of the source relative tovertical; and controlling activation of the source based on the detectedangular orientation.
 26. A method of marine seismic surveying inobstructed water, the method comprising: providing a skeg extending froma stern of a vessel to below a hull of the vessel at the stern;deploying a marine seismic survey system into the water from the sternof the vessel; protecting passage of at least one cable of the marineseismic survey system below a surface of the water in at least onepassage of the skeg; and operating the marine seismic survey system in aseismic survey by towing the marine seismic survey system below thesurface of the water with the skeg.
 27. The method of claim 26, whereinproviding the skeg comprises temporarily or permanently affixing theskeg to the hull of the vessel.
 28. The method of claim 26, whereinproviding the skeg to protect the passage of the at least one cable inthe at least one passage of the skeg comprises providing a first portionof the skeg separated by an open space on one side of a screw of thevessel from a second portion of the skeg on another side of the screw ofthe vessel.
 29. The method of claim 26, wherein providing the skeg toprotect the passage of the at least one cable in the at least onepassage of the skeg comprises providing the skeg extending between atleast two screws of the vessel.
 30. The method of claim 26, whereinprotecting the passage of the at least one cable in the at least onepassage of the skeg comprises positioning the at least one cable in atleast one open channel along a trailing edge of the at least one passagetoward the stern of the vessel by deploying a limiter on the at leastone cable and pulling the limiter and the at least one cable into the atleast one open channel.
 31. The method of claim 26, wherein towing themarine seismic survey system below the surface of the water with theskeg comprises supporting the at least one cable with at least onetowline disposed on the skeg below the surface of the water.
 32. Themethod of claim 26, wherein towing the marine seismic survey systembelow the surface of the water with the skeg comprises supporting asource of the marine seismic survey system towed below the surface ofthe water with a flotation device.
 33. The method of claim 32, whereinsupporting the source below the surface of the water with the flotationdevice comprises at least one of: towing the flotation device below thesurface of the water; controlling buoyancy of the flotation device withat least one fillable volume; and supporting the source with a pluralityof buoys connected to the source and towing the buoys below the surfaceof the water.
 34. The method of claim 26, wherein towing the marineseismic survey system below the surface of the water with the skegcomprises towing a source of the marine seismic survey system below thesurface of the water in an angular orientation; and wherein operatingthe marine seismic survey system below the surface of the water in theseismic survey comprises: detecting the angular orientation of thesource relative to vertical; and controlling activation of the sourcebased on the detected angular orientation.
 35. The method of claim 26,wherein towing the marine seismic survey system below the surface of thewater with the skeg comprises: controlling a depth of a streamer of themarine seismic system in the water using a controllable device deployedon the streamer; bringing the controllable device to the surface of thewater; obtaining global positioning system information with a receiveron the controllable device; and reckoning position of the streamer basedon the global positioning system information when the vertical positionof the controllable device is below the surface of the water.
 36. Themethod of claim 26, wherein towing the marine seismic survey systembelow the surface of the water with the skeg comprises: producing dragon a streamer of the marine seismic system towed through the water;extending a buoy from the streamer to the surface of the water by atether line; and obtaining global positioning system information with areceiver associated with the buoy.
 37. The method of claim 26, whereintowing the marine seismic survey system below the surface of the waterwith the skeg comprises retrieving streamers of the marine seismicsurvey system onto the vessel by controlling lateral and verticalpositions of the streamers relative to one another.
 38. The method ofclaim 26, wherein operating the marine seismic survey system below thesurface of the water in the seismic survey comprises: detecting an iceimpact event while detecting seismic energy with a streamer of themarine seismic survey system; and performing at least one of: filteringout the detected ice impact event from a seismic record; and isolatingthe detected ice impact event from the seismic record and using theisolated ice impact event as seismic data.